A Virtual Target Approach for Trajectory Optimization of a General Class of Constrained Vehicles

• Type: Article in International Conference Proceedings Book
• Date: 2015

Authors

Rucco, A (Author) Other; Aguiar, AP (Author) FEUP; Hauser, J (Author) Other

Conference proceedings International

Title: Proceedings of the IEEE Conference on Decision and Control

Pages: 5245-5250

54th IEEE Conference on Decision and Control, CDC 2015

15 December 2015 through 18 December 2015

Indexing

ISI Web of Knowledge - 2 Citations

Scopus - 2 Citations

Other information

Authenticus ID: P-00K-C07

DOI: 10.1109/cdc.2015.7403040

Abstract (EN): This paper addresses the computation of (local) optimal feasible trajectories that best approximate in L-2 sense any given desired maneuver for a general class of constrained robotic vehicles. For trajectory tracking and geometric tracking approaches, we propose a trajectory optimization strategy using a Virtual Target Vehicle (VTV) perspective where the virtual target plays the role of an additional control input. This extra flexibility can improve the numerical performance of the optimal control solver, which is based on a nonlinear projection operator Newton method, as well as enforce a trajectory-tracking or an only path-following behaviour of the resulting optimal trajectory. As an application scenario we apply the proposed approach to Unmanned Aerial Vehicles (UAVs). We provide numerical computations based on the loiter maneuver that illustrates the benefits of VTV design procedure and highlights interesting features of the proposed trajectory tracking and geometric tracking optimal control strategies.

Language: English

Type (Professor's evaluation): Scientific

No. of pages: 6